class BrazoWindow(Window):
__gtype_name__ = "BrazoWindow"
def finish_initializing(self, builder): # pylint: disable=E1002
"""Set up the main window"""
super(BrazoWindow, self).finish_initializing(builder)
self.AboutDialog = AboutBrazoDialog()
self.PreferencesDialog = PreferencesBrazoDialog()
# Code for other initialization actions should be added here.
self.poses = []
self.selected_pose = None
lengths = self.get_lengths()
self.ikcalc = brazo.InverseKinematics.IKCalculator(lengths)
# Initialize combo box
liststore = gtk.ListStore(str)
self.ui.port_combo_box.set_model(liststore)
cell = gtk.CellRendererText()
self.ui.port_combo_box.pack_start(cell, True)
self.ui.port_combo_box.add_attribute(cell, "text", 0)
self.armcon = None
self.enumerate_ports()
def about(self, builder):
response = self.AboutDialog.run()
if response == gtk.RESPONSE_DELETE_EVENT or response == gtk.RESPONSE_CANCEL:
self.AboutDialog.hide()
def help(self, widget):
webbrowser.open_new("http://kestrelrobotics.com/support/51-brazo-support/68-brazo-help")
def quit(self, builder):
exit(0)
def on_torque_toggled(self, widget, data=None):
if widget.get_active():
widget.set_label("Torque: ON")
else:
widget.set_label("Torque: OFF")
def on_gripper_close_button_toggled(self, widget, data=None):
if widget.get_active():
widget.set_label("Closed")
else:
widget.set_label("Open")
def refresh_text_field(self):
"""Refresh the text field, placing arrows at the selected pose."""
buffer = self.ui.textview1.get_buffer()
# Clear the field.
buffer.delete(buffer.get_start_iter(), buffer.get_end_iter())
# Add each pose
for pose in self.poses:
buffer.insert_at_cursor(pose._short_string())
if pose == self.selected_pose:
buffer.insert_at_cursor(" <--")
buffer.insert_at_cursor("\n")
def on_add_pose_button_clicked(self, widget, data=None):
"""Add the input data into a pose and enqueue it."""
base = self.ui.base_spinner.get_value()
shoulder = self.ui.shoulder_spinner.get_value()
elbow = self.ui.elbow_spinner.get_value()
wristRot = self.ui.wrist_rotation_spinner.get_value()
wristFlex = self.ui.wrist_flexion_spinner.get_value()
gripRot = self.ui.gripper_rotation_spinner.get_value()
gripClose = self.ui.gripper_close_button.get_active()
speeds = (
self.ui.base_speed.get_value(),
self.ui.shoulder_speed.get_value(),
self.ui.elbow_speed.get_value(),
self.ui.wrist_rot_speed.get_value(),
self.ui.wrist_flex_speed.get_value(),
self.ui.grip_rot_speed.get_value(),
)
pose = Pose(base, shoulder, elbow, wristRot, wristFlex, gripRot, speeds, gripClose)
index = 0
if self.selected_pose != None:
index = self.poses.index(self.selected_pose) + 1
self.poses.insert(index, pose)
self.selected_pose = pose
self.refresh_text_field()
def on_remove_pose_button_clicked(self, widget, data=None):
"""Remove the selected pose."""
if len(self.poses) <= 0:
return
index = self.poses.index(self.selected_pose)
self.poses.pop(index)
if index > 0:
self.selected_pose = self.poses[index - 1]
elif len(self.poses) > 0:
self.selected_pose = self.poses[0]
else:
self.selected_pose = None
self.refresh_text_field()
def on_clear_pose_button_clicked(self, widget, data=None):
"""Clear the user input fields."""
self.ui.base_spinner.set_value(0)
self.ui.shoulder_spinner.set_value(0)
self.ui.elbow_spinner.set_value(0)
self.ui.wrist_rotation_spinner.set_value(0)
self.ui.wrist_flexion_spinner.set_value(0)
self.ui.gripper_rotation_spinner.set_value(0)
self.ui.gripper_close_button.set_active(False)
def on_next_button_clicked(self, widget, data=None):
"""Select the next pose."""
if len(self.poses) <= 0:
return
index = self.poses.index(self.selected_pose)
if index != len(self.poses) - 1:
self.selected_pose = self.poses[index + 1]
self.refresh_text_field()
def on_previous_button_clicked(self, widget, data=None):
"""Select the previous pose."""
if len(self.poses) <= 0:
return
index = self.poses.index(self.selected_pose)
if index != 0:
self.selected_pose = self.poses[index - 1]
self.refresh_text_field()
def on_play_button_clicked(self, widget, data=None):
"""Play through the poses."""
print "Play button clicked."
for pose in self.poses:
print pose
def on_grab_button_clicked(self, widget, data=None):
"""Grab the arm's current pose and add it to the list."""
print "Grab position button clicked."
def on_calculate_button_clicked(self, widget, data=None):
x = self.ui.x_spinbutton.get_value()
y = self.ui.y_spinbutton.get_value()
z = self.ui.z_spinbutton.get_value()
try:
pose = self.ikcalc.get_pose_for_coordinates(x, y, z)
print "Pose:", pose
except brazo.inversekinematics.UnreachableError:
print "Point unreachable."
def on_save_button_clicked(self, widget, data=None):
self.ikcalc = brazo.inversekinematics.IKCalculator(self.get_lengths())
print "Created new ikcalc."
self.ui.status_label.set_text("Settings committed!")
def on_discard_button_clicked(self, widget, data=None):
pass
def on_notebook1_switch_page(self, widget, page, page_num, data=None):
if page_num == 3:
self.enumerate_ports()
def get_lengths(self):
"""Get the arm segment lengths from settings page and return as a tuple."""
height = self.ui.height_spinbutton.get_value()
upper = self.ui.upper_spinbutton.get_value()
lower = self.ui.lower_spinbutton.get_value()
wrist = self.ui.wrist_spinbutton.get_value()
return (height, upper, lower, wrist)
def on_test_button_clicked(self, widget, data=None):
if self.armcon is not None:
self.test_connection()
else:
self.set_status("No port selected.", 0.0)
def enumerate_ports(self):
avail_ports = brazo.ArmControl.get_available_ports()
liststore = self.ui.port_combo_box.get_model()
liststore.clear()
for i in range(len(avail_ports)):
port = avail_ports[i]
liststore.append([port])
if self.armcon is not None and self.armcon.port == port:
self.ui.port_combo_box.set_active(i)
if len(avail_ports) == 0:
self.ui.status_label.set_text("No serial ports found!")
def on_port_combo_box_changed(self, widget, data=None):
# Create new arm control object based on serial port selection
active_port = self.ui.port_combo_box.get_active()
if active_port != -1:
active_port = self.ui.port_combo_box.get_model()[active_port][0]
self.armcon = ArmControl(active_port)
def test_connection(self):
self.set_status("Testing...", 0.1)
self.armcon.send_command("kARDUINO_READY")
print "Sent ping"
response = self.armcon.read(1)
print "Response:", response
self.set_status(progress=0.3)
print "Read response."
if str(response) is ArmControl.commands["kACK"]:
self.set_status("Arduino online!", 0.6)
self.armcon.send_command("toggle-led")
self.set_status("Success!", 1.0)
else:
self.set_status("Connection failed!", 1.0)
self.armcon.flush()
def set_status(self, text=None, progress=None):
if text is not None:
self.ui.status_label.set_text(text)
if progress is not None:
self.ui.progressbar.set_fraction(progress)
def finalize(self):
if self.armcon is not None:
self.armcon.close()
class BrazoWindow(Window):
__gtype_name__ = "BrazoWindow"
def finish_initializing(self, builder): # pylint: disable=E1002
"""Set up the main window"""
super(BrazoWindow, self).finish_initializing(builder)
self.AboutDialog = AboutBrazoDialog()
self.PreferencesDialog = PreferencesBrazoDialog()
# Code for other initialization actions should be added here.
self.poses = []
self.selected_pose = None
lengths = self.get_lengths()
self.ikcalc = brazo.InverseKinematics.IKCalculator(lengths)
# Initialize combo box
liststore = gtk.ListStore(str)
self.ui.port_combo_box.set_model(liststore)
cell = gtk.CellRendererText()
self.ui.port_combo_box.pack_start(cell, True)
self.ui.port_combo_box.add_attribute(cell, 'text', 0)
self.ui.file_selector_combo_box.set_model(gtk.ListStore(str))
self.ui.file_selector_combo_box.pack_start(cell, True)
self.ui.file_selector_combo_box.add_attribute(cell, 'text', 0)
self.armcon = None
self.enumerate_ports()
self.enumerate_files()
def about(self, builder):
response = self.AboutDialog.run()
if response == gtk.RESPONSE_DELETE_EVENT or response == gtk.RESPONSE_CANCEL:
self.AboutDialog.hide()
def help(self, widget):
webbrowser.open_new(
"http://kestrelrobotics.com/support/51-brazo-support/68-brazo-help"
)
def quit(self, builder):
exit(0)
def on_torque_toggled(self, widget, data=None):
if widget.get_active():
widget.set_label("Torque: ON")
else:
widget.set_label("Torque: OFF")
def on_gripper_close_button_toggled(self, widget, data=None):
if widget.get_active():
widget.set_label("Closed")
else:
widget.set_label("Open")
def refresh_text_field(self):
"""Refresh the text field, placing arrows at the selected pose."""
buffer = self.ui.textview1.get_buffer()
#Clear the field.
buffer.delete(buffer.get_start_iter(), buffer.get_end_iter())
#Add each pose
for pose in self.poses:
buffer.insert_at_cursor(pose._short_string())
if pose == self.selected_pose:
buffer.insert_at_cursor(" <--")
buffer.insert_at_cursor("\n")
def on_add_pose_button_clicked(self, widget, data=None):
"""Add the input data into a pose and enqueue it."""
base = self.ui.base_spinner.get_value()
shoulder = self.ui.shoulder_spinner.get_value()
elbow = self.ui.elbow_spinner.get_value()
wristRot = self.ui.wrist_rotation_spinner.get_value()
wristFlex = self.ui.wrist_flexion_spinner.get_value()
gripRot = self.ui.gripper_rotation_spinner.get_value()
gripClose = self.ui.gripper_close_button.get_active()
speeds = (self.ui.base_speed.get_value(),
self.ui.shoulder_speed.get_value(),
self.ui.elbow_speed.get_value(),
self.ui.wrist_rot_speed.get_value(),
self.ui.wrist_flex_speed.get_value(),
self.ui.grip_rot_speed.get_value())
pose = Pose(base, shoulder, elbow, wristRot, wristFlex, gripRot,
speeds, gripClose)
index = 0
if self.selected_pose != None:
index = self.poses.index(self.selected_pose) + 1
self.poses.insert(index, pose)
self.selected_pose = pose
self.refresh_text_field()
def on_remove_pose_button_clicked(self, widget, data=None):
"""Remove the selected pose."""
if len(self.poses) <= 0:
return
index = self.poses.index(self.selected_pose)
self.poses.pop(index)
if (index > 0):
self.selected_pose = self.poses[index - 1]
elif len(self.poses) > 0:
self.selected_pose = self.poses[0]
else:
self.selected_pose = None
self.refresh_text_field()
def on_clear_pose_button_clicked(self, widget, data=None):
"""Clear the user input fields."""
self.ui.base_spinner.set_value(0)
self.ui.shoulder_spinner.set_value(0)
self.ui.elbow_spinner.set_value(0)
self.ui.wrist_rotation_spinner.set_value(0)
self.ui.wrist_flexion_spinner.set_value(0)
self.ui.gripper_rotation_spinner.set_value(0)
self.ui.gripper_close_button.set_active(False)
def on_next_button_clicked(self, widget, data=None):
"""Select the next pose."""
if len(self.poses) <= 0:
return
index = self.poses.index(self.selected_pose)
if (index != len(self.poses) - 1):
self.selected_pose = self.poses[index + 1]
self.refresh_text_field()
def on_previous_button_clicked(self, widget, data=None):
"""Select the previous pose."""
if len(self.poses) <= 0:
return
index = self.poses.index(self.selected_pose)
if (index != 0):
self.selected_pose = self.poses[index - 1]
self.refresh_text_field()
def on_play_button_clicked(self, widget, data=None):
"""Play through the poses."""
print "Play button clicked."
for pose in self.poses:
print pose
def on_grab_button_clicked(self, widget, data=None):
"""Grab the arm's current pose and add it to the list."""
print "Grab position button clicked."
def on_calculate_button_clicked(self, widget, data=None):
x = self.ui.x_spinbutton.get_value()
y = self.ui.y_spinbutton.get_value()
z = self.ui.z_spinbutton.get_value()
try:
pose = self.ikcalc.get_pose_for_coordinates(x, y, z)
print "Pose:", pose
except brazo.inversekinematics.UnreachableError:
print "Point unreachable."
def on_save_button_clicked(self, widget, data=None):
self.ikcalc = brazo.inversekinematics.IKCalculator(self.get_lengths())
print "Created new ikcalc."
self.ui.status_label.set_text("Settings committed!")
def on_discard_button_clicked(self, widget, data=None):
pass
def on_notebook1_switch_page(self, widget, page, page_num, data=None):
if page_num == 3:
self.enumerate_ports()
def on_load_button_clicked(self, widget, data=None):
active_filename = self.ui.file_selector_combo_box.get_active()
if active_filename != -1:
active_filename = self.ui.file_selector_combo_box.get_model(
)[active_filename][0]
self.load_arm_descriptor(_ROBOTS_DIR_ + active_filename)
def load_arm_descriptor(self, filename):
"""Load an arm description file from disk."""
arm_file = open(filename, "r")
line = arm_file.readline()
lengths = ()
while line.startswith("#"):
pass # Comment.
if line.startswith("num_segments"):
lengths = (0, ) * int(line[13]) # example: num_segments 5
else:
self.set_status("File does not start with num_segments!")
return
while (line):
if line.startswith("#"):
pass # Comment.
if line.startswith("segment"):
segment_number = int(
line[7]) # We'll parse out the number of the segment.
if segment_number > 6:
self.set_status(
"This program does not support more than 6 segments.")
elif segment_number >= len(lengths):
self.set_status("Found more segments than declared!")
else:
lengths[segment_number] = int(
line[9]) # Parse out the arm length
return lengths
def get_lengths(self):
pass
"""Get the arm segment lengths from settings page and return as a tuple."""
# height = self.ui.height_spinbutton.get_value()
# upper = self.ui.upper_spinbutton.get_value()
# lower = self.ui.lower_spinbutton.get_value()
# wrist = self.ui.wrist_spinbutton.get_value()
# return (height, upper, lower, wrist)
def on_test_button_clicked(self, widget, data=None):
if self.armcon is not None:
self.test_connection()
else:
self.set_status("No port selected.", 0.0)
def on_diagnostics_button_clicked(self, widget, data=None):
if self.armcon is not None:
self.test_connection()
self.run_diagnostics()
else:
self.set_status("Not connected.", 0.0)
def enumerate_ports(self):
avail_ports = brazo.ArmControl.get_available_ports()
if len(avail_ports) == 0:
self.ui.status_label.set_text("No serial ports found!")
return
liststore = self.ui.port_combo_box.get_model()
liststore.clear()
for i in range(len(avail_ports)):
port = avail_ports[i]
liststore.append([port])
if self.armcon is not None and self.armcon.port == port:
self.ui.port_combo_box.set_active(i)
def enumerate_files(self):
avail_files = os.listdir(_ROBOTS_DIR_)
liststore = self.ui.file_selector_combo_box.get_model()
liststore.clear()
self.set_status("Found " + str(len(avail_files)) + " files.")
for filename in avail_files:
if filename.endswith(".rbt"):
liststore.append([filename])
def on_port_combo_box_changed(self, widget, data=None):
# Create new arm control object based on serial port selection
active_port = self.ui.port_combo_box.get_active()
if active_port != -1:
active_port = self.ui.port_combo_box.get_model()[active_port][0]
self.armcon = ArmControl(active_port)
def test_connection(self):
self.armcon.flush()
self.set_status("Testing...", 0.1)
self.armcon.send_command("kARDUINO_READY")
print "Sent ping"
response = self.armcon.read(1)
print "Response:", response
self.set_status(progress=0.3)
print "Read response."
if str(response) is ArmControl.commands["kACK"]:
self.set_status("Arduino online!", 0.6)
self.armcon.send_command("toggle-led")
self.set_status("Success!", 1.0)
else:
self.set_status("Connection failed!", 1.0)
self.armcon.flush()
def run_diagnostics(self):
self.set_status("Connecting...", 0.1)
self.armcon.send_command("kDIAGNOSTICS")
time.sleep(.01)
response = self.armcon.read(1)
self.armcon.flush()
print response
self.set_status("Response: " + response, 0.2)
print "done."
def set_status(self, text=None, progress=None):
if text is not None:
self.ui.status_label.set_text(text)
if progress is not None:
self.ui.progressbar.set_fraction(progress)
def finalize(self):
if self.armcon is not None:
self.armcon.close()
def on_port_combo_box_changed(self, widget, data=None):
# Create new arm control object based on serial port selection
active_port = self.ui.port_combo_box.get_active()
if active_port != -1:
active_port = self.ui.port_combo_box.get_model()[active_port][0]
self.armcon = ArmControl(active_port)
def on_port_combo_box_changed(self, widget, data=None):
# Create new arm control object based on serial port selection
active_port = self.ui.port_combo_box.get_active()
if active_port != -1:
active_port = self.ui.port_combo_box.get_model()[active_port][0]
self.armcon = ArmControl(active_port)